US8665137B2 - Radar system with improved angle formation - Google Patents

Radar system with improved angle formation Download PDF

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US8665137B2
US8665137B2 US12/994,752 US99475209A US8665137B2 US 8665137 B2 US8665137 B2 US 8665137B2 US 99475209 A US99475209 A US 99475209A US 8665137 B2 US8665137 B2 US 8665137B2
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antennas
transmitter
spatial direction
receiver
antenna
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US20110074621A1 (en
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Markus Wintermantel
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ADC Automotive Distance Control Systems GmbH
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ADC Automotive Distance Control Systems GmbH
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/08—Systems for measuring distance only
    • G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
    • G01S13/34—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
    • G01S13/343—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal using sawtooth modulation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/42—Simultaneous measurement of distance and other co-ordinates
    • G01S13/44—Monopulse radar, i.e. simultaneous lobing
    • G01S13/4454—Monopulse radar, i.e. simultaneous lobing phase comparisons monopulse, i.e. comparing the echo signals received by an interferometric antenna arrangement
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/023—Interference mitigation, e.g. reducing or avoiding non-intentional interference with other HF-transmitters, base station transmitters for mobile communication or other radar systems, e.g. using electro-magnetic interference [EMI] reduction techniques
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/023—Interference mitigation, e.g. reducing or avoiding non-intentional interference with other HF-transmitters, base station transmitters for mobile communication or other radar systems, e.g. using electro-magnetic interference [EMI] reduction techniques
    • G01S7/0233—Avoidance by phase multiplex
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/023—Interference mitigation, e.g. reducing or avoiding non-intentional interference with other HF-transmitters, base station transmitters for mobile communication or other radar systems, e.g. using electro-magnetic interference [EMI] reduction techniques
    • G01S7/0234—Avoidance by code multiplex
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/03—Details of HF subsystems specially adapted therefor, e.g. common to transmitter and receiver
    • G01S7/032—Constructional details for solid-state radar subsystems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/28—Details of pulse systems
    • G01S7/285—Receivers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/35—Details of non-pulse systems
    • G01S7/352—Receivers
    • G01S7/354—Extracting wanted echo-signals
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/27—Adaptation for use in or on movable bodies
    • H01Q1/32—Adaptation for use in or on road or rail vehicles
    • H01Q1/3208—Adaptation for use in or on road or rail vehicles characterised by the application wherein the antenna is used
    • H01Q1/3233—Adaptation for use in or on road or rail vehicles characterised by the application wherein the antenna is used particular used as part of a sensor or in a security system, e.g. for automotive radar, navigation systems
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q9/00—Electrically-short antennas having dimensions not more than twice the operating wavelength and consisting of conductive active radiating elements
    • H01Q9/04—Resonant antennas
    • H01Q9/0407—Substantially flat resonant element parallel to ground plane, e.g. patch antenna
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/08—Systems for measuring distance only
    • G01S13/10—Systems for measuring distance only using transmission of interrupted, pulse modulated waves
    • G01S13/26—Systems for measuring distance only using transmission of interrupted, pulse modulated waves wherein the transmitted pulses use a frequency- or phase-modulated carrier wave
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/46—Indirect determination of position data
    • G01S2013/462—Indirect determination of position data using multipath signals
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9321—Velocity regulation, e.g. cruise control
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/35—Details of non-pulse systems
    • G01S7/352—Receivers
    • G01S7/356—Receivers involving particularities of FFT processing

Definitions

  • the invention relates to a radar system for use in driver assistance systems in the motor vehicle.
  • the radar system has an improved angle formation, in particular in azimuth direction.
  • Motor vehicles are increasingly equipped with driver assistance systems, which with the aid of sensor systems detect the environment and from the thus recognized traffic situation derive automatic reactions of the vehicle and/or instruct, especially warn the drivers.
  • driver assistance systems which with the aid of sensor systems detect the environment and from the thus recognized traffic situation derive automatic reactions of the vehicle and/or instruct, especially warn the drivers.
  • comfort and safety functions are made between comfort and safety functions.
  • FSRA Full Speed Range Adaptive Cruise Control
  • driver assistance functions In addition to an increase of the comfort, safety functions are increasingly the focus, whereby the reduction of the or braking and/or stopping distance in emergency situations plays the most important role.
  • the spectrum of the corresponding driver assistance functions extends from an automatic priming of the brake to for reducing the brake latency (pre-fill), via an improved brake assistant (BAS+) up to the autonomous emergency braking.
  • BAS+ improved brake assistant
  • the object of the invention to achieve a high beam focusing using a compact radar sensor in order to be able to realize in particular long-reach functions in a vehicle.
  • the inventive radar system demonstrates how to nearly double the effective aperture of the sensor by providing plural transmitter antennas.
  • the sensor width is nearly twice as large as its real or actual width.
  • the advantages of the invention result from the fact that the sensor can be reduced in physical size, which leads in particular to the fact that also for long-reach functions the favorable 24 GHz-technology can be used. Apart from this, a reduction of sensor size on the one hand achieves a reduction of the sensor weight (which e.g. reduces the fuel consumption of the vehicles) and on the other hand achieves a principal cost reduction (because of smaller dimensions of mechanical parts and circuit boards, which has a very favorable effect with planar antennas with the expensive high frequency substrates).
  • the radar system according to invention for detecting the environment of a motor vehicle comprises transmission means for emitting transmission signals using at least two transmitter antennas, receiving means for receiving transmission signals reflected by objects using one or more receiver antennas, wherein each antenna comprises a phase center. Furthermore, signal processing means are provided for processing the received signals.
  • the phase center of at least one receiver antenna does not lie, with regard to a spatial direction R (e.g. R is horizontal), outside phase centers of two transmitter antennas that are offset in said spatial direction (e.g. for horizontal spatial direction not on the left or on the right), and for one of these receiver antennas the signals received by said antennae are separated according to the two portions originating from said two transmitter antennas.
  • R e.g. R is horizontal
  • the effective antenna aperture can be increased and thus the accuracy and resolution of the angular measurement performed in the signal processing means can be improved.
  • the antennas of the radar system arranged outside in relation to the spatial direction R are used for transmission.
  • the antennas are constructed in planar technology, e.g. as patch antennas.
  • At least one antenna is used for both transmission and reception.
  • the antenna works simultaneously as transmission and receiver antenna or its function changes temporally between transmission and receiver antennas.
  • the separation of the received signals in portions originating from different transmitter antennas is realized by temporal multiplex of these transmitter antennas, i.e. by corresponding switching at any receiving time only one transmitter antenna each is active, wherein for objects moved relative to the radar system the resulting phase offset of received signals, which originate from different transmitter antennas, is considered for the angular measurement.
  • the separation of the received signals into portions, which originate from different, but simultaneously emitting transmitter antennas is realized by the fact that for these different transmitter antennas at least one parameter is different for the modulation of amplitude, frequency and/or phase of the emitted signal.
  • the position of objects in the spatial direction R is determined by the fact that for the angle formation with regard to this spatial direction a digital beam formation (e.g. with a discrete Fourier transformation) or high-resolution methods (e.g. model-based methods such as according to Burg or subspace methods such as MUSIC) are used.
  • a digital beam formation e.g. with a discrete Fourier transformation
  • high-resolution methods e.g. model-based methods such as according to Burg or subspace methods such as MUSIC
  • the N S transmitter and the N E receiver antennas are realized in planar technology and are arranged on a plane surface. Moreover, at least two of the N S transmitter and of the N E receiver antennas overlap with regard to the spatial direction R. This overlap is realized by at least one of the subsequent arrangements and/or embodiments of these transmitter and receiver antennas:
  • the width of the N S transmitter antennas and/or the width of the N E receiver antennas is larger than the distance of the N E receiver antennas to each other (e.g. approx. by the factor 2), so that the emission characteristic of these antennas is so narrow that the effect of ambiguities in the angle formation is reduced or as far as possible avoided.
  • received signals are acquired from different combinations of the N S transmitter and of the N E receiver antennas, wherein the relative phase centers of these combinations of transmitter and receiver antennas lie at least approximately equidistant with regard to the spatial direction R.
  • the relative phase center of a combination of a transmitter and of a receiver antenna is defined as sum of the two vectors from a reference point to the phase centers of the transmitter and of the receiver antenna.
  • the spatial direction S which is vertical to spatial direction R the position of the relative phase centers of these combinations from transmitter and receiver antennas varies periodically with the period length P, if a sequence of these combinations from transmitter and receiver antennas is considered, which is arranged in the spatial direction R with regard to the position of the relative phase centers.
  • FIG. 13 An exemplary embodiment of such an antenna assembly is shown in FIG. 13 with the reference numeral 13 . 1 .
  • the signal processing means the fact is utilized that the received signals of an object dependent from its angular position in the spatial direction S have a phase portion alternating periodically with the period length P over the combinations of transmitter and receiver antennas arranged in such manner, wherein for this spatial direction S assertions on the angular position of objects and/or on the misalignment of the radar system are possible.
  • a measure is used in the signal processing means for detecting in particular stationary objects which can be passed from above or underneath.
  • This measure utilizes at least one deviation with regard to the proportions resulting for received signals from only one elevation angle.
  • the size and/or the amount, in particular each filtered over the object distance, and/or the distance-related variation of this measure is used for an at least rough estimate of the height of objects above the road surface.
  • received signals are acquired from different combinations of transmitter and receiver antennas.
  • the transmitter and receiver antennas used here each have at least approximately the same emission characteristic, wherein the emission characteristic of these transmitter antennas can be different from the emission characteristic of these receiver antennas.
  • the spatial direction R the position of the relative phase centers of these combinations from transmitter and receiver antennas varies periodically with the period length Q by an equidistant raster.
  • the signal processing means for determining the position of objects in the spatial direction R the fact is utilized that the received signals of an object, recorded by different combinations of transmitter and receiver antennas, dependent from its angular position in the spatial direction R have a phase portion alternating with the period length Q apart from a linear phase portion, if a sequence of the combinations from transmitter and receiver antennas ordered in the spatial direction R with regard to the position of the relative phase centers is considered.
  • the linear phase portion of the received signals allows for a fine, but ambiguous angle determination in the spatial direction R, whereas the alternating phase portion allows for a rough, but clear angle determination.
  • FIG. 1 the first form of embodiment of a radar system is shown.
  • FIG. 2 shows for the first form of embodiment the frequency of the transmission and of the received signals, which consist of so-called frequency ramps, as well as the antenna combinations sequentially driven thereby.
  • FIG. 3 shows a sampled signal with the presence of two objects before the first DFT (left) and after the first DFT (right).
  • FIG. 4 the complex spectral value rotating via the frequency ramps in the distance gate 4 , in which there is exactly one object, is shown.
  • FIG. 5 shows the two-dimensional complex-valued spectrum after the second DFT.
  • FIG. 6 shows for the antenna assembly of the first form of embodiment the different path lengths between the individual antennas and a far away object resting relative to the sensor with an azimuth angle ⁇ Az ⁇ 0.
  • FIG. 7 a shows an antenna assembly with transmitter and 8 receiver antennas, which is to equivalent the antenna assembly of the first form of embodiment with 2 transmitter and 4 receiver antennas; in FIG. 7 b for this equivalent arrangement the different path lengths between the individual antennas and a far away object resting relative to the sensor is shown.
  • FIG. 8 a shows for the above antenna assemblies the complex spectral value rotating via the antenna combinations in the distance-relative-speed-gate (9, 0), in which there is exactly one object (resting relative to the sensor); in FIG. 8 b the amount of assigned spectrum after the third DFT is shown.
  • FIG. 9 shows the data before the three-dimensional DFT (left) and the three-dimensional complex-valued spectrum thereafter (right).
  • FIG. 10 the second form of embodiment of a radar system is shown.
  • FIG. 11 shows for the second form of embodiment the frequency of the transmission and of the received signals with a parallel control of all antenna combinations.
  • FIG. 12 shows the third form of embodiment of a radar system.
  • FIG. 13 shows the fourth form of embodiment of a radar system.
  • FIG. 14 shows for the antenna assembly of the fourth form of embodiment the different path lengths between the individual antennas and a far away object resting relative to the sensor with an elevation angle ⁇ El ⁇ 0 and the azimuth angle ⁇ Az ⁇ 0.
  • FIG. 16 shows in the complex plane the connections for the transformation of a relation for the elevation measuring capability of the fourth form of embodiment.
  • FIG. 17 illustrate the reflecting effect of the road surface.
  • FIG. 20 a shows an ideal antenna diagram with azimuthal detection range ⁇ 19.5 . . . +19.5;
  • FIG. 20 b shows a realizable antenna diagram for such a detection range with at least 15 dB suppression outside.
  • FIG. 21 shows the antenna assembly of a fifth form of embodiment of a radar system.
  • FIG. 22 shows the antenna assembly of a sixth form of embodiment of a radar system.
  • FIG. 23 shows the antenna assembly of a seventh form of embodiment of a radar system.
  • FIGS. 24 a and 24 b show two alternative antenna assemblies of an eighth form of embodiment of a radar system.
  • FIG. 25 shows the antenna assembly of a ninth form of embodiment of a radar system.
  • FIG. 26 shows the antenna assembly of a tenth form of embodiment of a radar system.
  • FIG. 27 shows the eleventh form of embodiment of a radar system.
  • FIG. 28 shows an antenna diagram, which is sensitive by corresponding shoulders also outside of the azimuthal range ⁇ 19.5 . . . +19.5.
  • the radar system has 2 transmitter antennas TX 0 and TX 1 for emitting transmission signals and 4 receiver antennas RX 0 -RX 3 for receiving transmission signals reflected at objects; the antennas are embodied as patch antennas on a planar board 1 . 1 in planar technology, wherein this board is oriented with regard to horizontal and vertical direction as is shown in the drawing. All antennas (transmitter and receiver antennas) have the same emission characteristic in elevation and azimuth.
  • the 4 receiver antennas (and thus their phase, i.e. emission centers) each have the same lateral, i.e.
  • the multiplexers 1 . 3 and 1 . 4 in each case one of the two transmitter antennas and one of the 4 receiver antennas can be selected.
  • the transmission signals emitted on the respectively selected transmitter antenna are gained from the high frequency oscillator 1 . 2 in the 24 GHz-range, which can be changed in its frequency via a control voltage v control ; the control voltage 1 . 9 is generated in the control means.
  • the signals received from the respectively selected receiver antenna are equally down-mixed in the real-valued mixer 1 . 5 with the signal of the oscillator 1 . 2 into the low frequency range. Thereafter, the received signals go through a bandpass filter 1 . 6 with the shown transfer function, an amplifier 1 . 7 and an A/D converter 1 . 8 ; subsequently they are further processed in a digital signal processing unit 1 . 10 .
  • the frequency of the high frequency oscillator and thus of the transmission signals is changed very quickly in linear manner (in 8 ⁇ s by 187.5 MHz); this is referred to as a frequency ramp.
  • the frequency ramps are periodically repeated (all 10 ⁇ s); in total there are 2048 frequency ramps.
  • the 8 combinations of the 2 transmitter and 4 receiver antennas are periodically repeated in the order TX 0 /RX 0 , TX 0 /RX 1 , TX 0 /RX 2 , TX 0 /RX 3 , TX 1 /RX 0 , TX 1 /RX 1 , TX 1 /RX 2 and TX 1 /RX 3 , wherein before each frequency ramp the respective next combination is selected.
  • the received signal is real-valued mixed with the oscillator and thus with the transmission frequency, a sinusoidal oscillation with the frequency ⁇ f results after the mixer.
  • This frequency lies in the MHz-range and is still shifted with a non-vanishing radial relative speed by the Doppler frequency, which lies, however, only in the kHz-range and which is, therefore, approximately negligible compared to the frequency portion by the object distance. If there are several objects, then the received signal is a superposition of several sinusoidal oscillations of different frequency.
  • each frequency ramp the received signal is sampled in each case 256 times at the A/D converter at the distance of 25 ns (i.e. with 40 MHz) (see FIG. 2 ).
  • a signal sampling makes sense only in the time range, where received signals of objects arrive within the receivable distance range—thus after the ramp start at least the propagation time corresponding to the maximum receivable distance must be waited for (with a maximum receivable distance of 150 m this corresponds to 1 ⁇ s).
  • a Discrete Fourier Transformation (DFT) in form of a Fast Fourier Transformation (FFT) is formed.
  • DFT Discrete Fourier Transformation
  • FFT Fast Fourier Transformation
  • the filter 1 . 5 absorbs small frequencies and thus the received signals of close objects, in order to avoid an overmodulation of the amplifier 1 . 6 and of the A/D converter 1 . 7 (the signals received at the antennas get stronger with decreasing object distance).
  • Several objects with different radial relative speed in the same distance gate are separated by the fact that a second DFT is calculated for each antenna combination and each distance gate over the complex spectral values resulting in the 256 frequency ramps.
  • Each discrete frequency supporting point I of this second DFT corresponds to a set of Doppler frequencies (because of the sampling of the Doppler frequency it can be defined only up to an unknown integral multiple of its sampling frequency) and thus to a set of radial relative speeds v rel of objects, so that the discrete frequency supporting points of the second DFT can be referred to as relative-speed-gates; for linguistic simplification from this point on the addition “radial” is omitted for the radial relative speed.
  • the size (2a+d/2+m ⁇ d) represents the horizontal distance of the so-called relative phase center of the antenna combination m to the reference point RP and is the sum of horizontal distance of the assigned transmitter and receiver antenna to the reference point (the relative phase center of a combination of a transmitter and of a receiver antenna here is defined as a sum of the two vectors from a reference point to the phase centers of the transmitter and of the receiver antenna).
  • the arrangement according to FIG. 1 represented here has the advantage that it has nearly only half the horizontal expansion compared to the conventional arrangement according to FIG. 7 a , as a result of which the sensor size can be significantly reduced.
  • sums are created via the complex values to the 8 antenna combinations, which are each multiplied with a set of complex factors with a linear changing phase; dependent on the linear phase change of the respective factor set lobes with different beam directions result.
  • the beam width of these lobes is significantly smaller than that of the individual antennas.
  • the above described summation is realized by a 16-point-DFT, wherein the 8 values of the 8 antenna combinations are supplemented by 8 zeros.
  • the discrete frequency values n 0, 1, . . .
  • the object dimensions can be determined by interpolation in response of these levels still substantial more accurately than the gate width.
  • the window functions of the three DFTs are selected such that on the one hand the power peaks do not get too wide (for a sufficient object separation), but on the other hand also the side lobes of the window spectra do not get too high (in order to be able to detect also weakly-reflective objects in the presence of highly-reflective objects). From the height of the power peaks as the fourth object dimension also its reflection cross section can be estimated, which indicates, how strong the object reflects the radar waves.
  • the described detection of objects and the determination of the assigned object dimensions represent a measuring cycle and supply a momentaneous picture of the environment; this is periodically repeated approx. all 30 ms.
  • the momentaneous pictures are pursued, filtered and evaluated throughout successive cycles; the reasons for this are in particular:
  • Pursuing and filtering of object detections over successive cycles is also referred to as tracking.
  • object values for the next cycle are predicted from the tracked object dimensions of the current cycle. These predictions are compared with the objects and their object dimensions detected in the next cycle as a snapshot, in order to suitably assign them to each other. Then the predicted and measured object dimensions belonging to the same object are merged, from which result the current tracked object dimensions, which thus represent values filtered over successive cycles. If certain object dimensions cannot be clearly determined in a cycle, the different hypotheses are to be considered with the tracking. From the tracked objects and the assigned tracked object dimensions the environment situation for the respective driver assistance function is analyzed and interpreted, in order to derive from it that or the relevant objects and thus the corresponding actions.
  • the embodiment of the sensor according to FIG. 1 considered so far has the disadvantage that the 8 antenna combinations are sequentially operated, i.e. reception is always performed only on one antenna combination—this affects negatively the system sensitivity.
  • the arrangement according to FIG. 10 overcomes this disadvantage.
  • Both transmitter antennas TX 0 and TX 1 are parallel operated, and the signals of the 4 receiver antennas RX 0 -RX 3 are parallel evaluated.
  • the output signal of the high frequency oscillator 10 . 2 is applied over the power divider 10 . 3 simultaneously to both transmitter antennas, and on the receiving side up to the digital signal processing means there are 4 parallel channels.
  • the switchable inverters 10 . 4 is located (the switchable inverter is activated from the control means 10 . 9 ).
  • the switchable inverter is active each second frequency ramp, i.e. with each second frequency ramp the phase position of the transmitter antenna TX 1 is shifted by 180° in relation to the other frequency ramps.
  • the phase of the received signals which are generated by transmission signals of TX 1 reflected at an object, alternates from frequency ramp to frequency ramp by 180° in addition to the change by the relative speed of the object.
  • these received signals originating from TX 1 have an additional phase modulation of 180° with the period length 2, which leads with the second DFT to a displacement of the spectrum by half the DFT-length and thus 12.5 kHz.
  • the second DFT has now the length 512 (there are 512 frequency ramps) and is determined for the four reception channels and for each distance gate.
  • TX 1 By the phase modulation of TX 1 an object in the second DFT generates in each reception channel and in the corresponding distance gate two power peaks at the distance of 12.5 kHz; the power peak at the frequency corresponding to the relative speed originates from the transmitter antenna TX 0 , the power peak shifted by 12.5 kHz originates from the transmitter antenna TX 1 .
  • the portions originating from the two transmitter antennas are separated.
  • the 8 antenna combinations are generated by the fact that for each of the 4 reception channels (of the 4 receiver antennas) the lower half (0-12.5 kHz) of the second DFT for TX 0 and the upper half (12.5 kHz-25 kHz) for TX 1 is used, wherein the upper half is shifted downward by 12.5 kHz on the same Doppler frequency range 0-12.5 kHz as the lower half.
  • the third DFT it results as a single difference to the original arrangement that different hypotheses for the relative speed do no longer mean different azimuth angles, but always the same azimuth angle results (in the data cuboid of the three-dimensional DFT according to FIG. 9 the only change is that with the azimuth angle always the values belonging to the relative speed range 0-280 km/h are valid); this is reasoned by the fact that there is no more time delay between the received signals of the 8 antenna combinations.
  • the system sensitivity increases by 6 dB, since the bandwidth of the bandpass filters 10 . 6 in relation to the original embodiment is reduced by the factor 4 (the sampling during the frequency ramps is slower by a factor 4, since the frequency ramps are longer by this factor). Based on the double length 512 of the second DFT in addition this results in an integration gain higher by 3 dB. For the case that per transmitter antenna the same high power is emitted during the frequency ramps, this results in a total increase of the system sensitivity by 9 dB. If the transmission power is halved per transmitter antenna (e.g. due to the simultaneous supply of two antennas from one source or because the entire transmission line is limited due to approval regulations), this results in an increase of the system sensitivity by 6 dB.
  • the transmitter antennas were arranged above the receiver antennas, since with an arrangement in one level (i.e. if the transmitter antennas would have been moved downward) the patches would have contacted each other, which cannot be realized.
  • the arrangement of the transmitter and receiver antennas one above the other the latter can be only approx. half as high with a predetermined sensor height as with an arrangement in a plane, which in elevation direction leads to a smaller beam focusing and thus to a smaller antenna gain.
  • the vertical detection range increases, which can be disadvantageous for certain functions (e.g. because bridges can be hardly distinguished from stationary vehicles), and to the other hand the system sensitivity is reduced.
  • the eighth antenna combination of transmitter antenna TX 1 and receiver antenna RX 3 is not possible, so that there are only 7 antenna combinations; for the third DFT then the signal of the eighth antenna combination is to be set to zero. In the other case, thus if the right antenna can work simultaneously as a transmitter and receiver antenna, all 8 antenna combinations are possible.
  • this antenna must be connected alternately or permanently with the HF-generation and the receiving mixer; this can be realized for example with the subsequent forms of embodiment for the connecting element 12 . 11 :
  • the receiving signals of the different antenna combinations do not have the same level; this is to be considered with the angle formation methods (e.g. with the digital beam formation) and is to be compensated, if necessary.
  • blind antennas could be arranged with the same structure as the effective antennas (i.e. an antenna column with 8 patches); these blind antennas would then have to be locked with adaptation.
  • all antennas would be affected in same way by the respective neighbor antennas (in particular by coupling), which is more uncritical for the angle formation methods than a different impact by neighbor antennas.
  • the relative phase centers of the antenna combinations must have a different vertical position (the relative phase center of a combination of a transmitter and of a receiver antenna is here defined as sum of the two vectors from a reference point to the phase centers of the transmitter and of the receiver antenna).
  • the path length r(m) for the antenna combination m 4 ⁇ m TX +m RX from the transmitter antenna TXm TX to the object and back to the receiver antenna RXm RX results in
  • r RP is the path length from a reference point RP on the antenna plate to the object
  • b is the vertical distance between the reference point and the transmitter antennas
  • c is the vertical offset between transmitter antennas and the two upper receiver antennas RX 0 and RX 2 and mod(., 2) the modulo function to 2.
  • the size (2b+c+mod(m, 2) s) represents the vertical distance of the relative phase center of the antenna combination m to the reference point RP and is the sum from the vertical distance of the assigned transmitter and receiver antenna to the reference point.
  • the represented approach for the measurement and/or estimation of elevation angles can be interpreted also in such a way that into the digital beam formation for the azimuth angle a mono-pulse method for the elevation angle is incorporated (mono-pulse method means that by phase comparison of two offset antennas (groups) an angle is determined).
  • This approach has the advantage that on the one hand all evaluation methods (such as e.g.
  • the simple digital beam formation with a DFT) based on equidistant receiver antennas can be maintained and that on the other hand for the azimuth angle there are no losses for the accuracy and only small losses for the separation capability (the latter applies only with objects with an azimuth angle distance corresponding to half the DFT length, if for the objects a position outside of the horizontal plane is possible); with a conventional approach for a simultaneous angular measurement in azimuth and elevation, which comprises for the antenna combinations two groups one above the other without horizontal offset to each other, with an equal number of antenna combinations this would result in that the accuracy and separation capability for the azimuth angle would be halved.
  • the periodic vertical offset of the antenna combinations can in principle also be embodied with a higher period length P than 2.
  • P the period length of the digital beam formation
  • N the DFT-length of the digital beam formation
  • FIG. 17 In a real environment it is to be considered for the elevation measurement that the road surface has a reflecting property; this is shown in FIG. 17 .
  • An object receives transmission power on a direct and on a path reflected at the road surface.
  • the sensor in addition to the real object sees a mirror object, which has approximately the same (radial) distance as the real object, but lies by the height h o of the real object underneath the road surface.
  • Dependent on the height h s of the sensor above the road surface the real and the mirror object have a different amount of the elevation angle, wherein the difference decreases with an increasing distance.
  • the phase of the received signals of real and mirror object are generally different, since they slightly differ in their distance; this phase difference changes above the distance r of the real object.
  • the described effects are the stronger pronounced, the higher the real object is located above the road surface.
  • the real and mirror object are in the same distance-relative-speed-gate; they have the same azimuth angle, but different elevation angles.
  • the period length 2 considered above as an example for the vertical offset of the receiver antennas both objects cannot be dissolved; on average the reflection focus lies approximately on the height of the road surface.
  • this criterion can also be used in the closer range to distinguish relevant protruding objects on the roadway (e.g. vehicles and pedestrians) on the one hand and on the other hand smaller objects (e.g. can of coke) lying on the road and thus being able to be driven over as well as unevenness of the road surface (e.g. by offset board joint).
  • relevant protruding objects on the roadway e.g. vehicles and pedestrians
  • smaller objects e.g. can of coke
  • the actually measured elevation angle can be used, in particular as by the elevation beam focusing the reflections of a real protruding object are significantly larger than the reflections of its mirror object, so that approximately the actual angle of the real object is measured, from which approximately its real height can be determined.
  • any other measure can be used, which has at least one deviation in relation to the proportions resulting from only one reflection from an elevation angle, to derive thereof a criterion for recognizing objects which can be passed from underneath or above.
  • the absolute imaginary part Im(V) of the proportion V can be used.
  • the amount of this measure Im(V), in particular filtered via the object distance, and its distance-related variation are the higher, the higher the real object is located above the road surface; the filtration of the amount over the object distance can be linear (e.g.
  • the elevation measuring capability can also be used for recognizing and if necessary for correcting a misalignment of the sensor in elevation direction and/or for monitoring its elevation orientation.
  • For determining the actual elevation orientation only moved objects which are sufficiently far away are suitable, since moved objects (vehicles) apart from few special cases lie for instance on the same height as the own vehicle and in sufficient distance the road reflections have only little influence on the measured elevation angle, since the elevation angles of the real and mirror object differ only little (how far the objects have to be away depends on the required accuracy for the determination of the elevation orientation. Stationary objects, in contrast, are not suitable since they can lie in different elevation angles (on or above the roadway).
  • the sensor shows a misalignment by this average measured elevation angle, as other vehicles on average are located approximately in horizontal direction to the own vehicle, i.e. with a real elevation 0°; for example the sensor for an average measured elevation angle of +2° (for a sensor objects lie approx. 2° above the roadway) looks approx. 2° downward.
  • the averaging via measured elevation angles of several objects can be effected either linear, i.e. by weighted averaging, however, nonlinear averaging is more suitable, which reduce the influence of outliers in a series of measurements—the median is mentioned as an example.
  • Outliers in the measured elevation angle with the moved objects used for determining the elevation orientation can in principle be avoided to the majority by e.g. the subsequent measures:
  • the embodiments considered so far have only one column per individual antenna (thus per transmitter and receiver antenna), whereby they emit very wide in horizontal direction (azimuth). Such arrangements are typically used for close range sensors, since they must have a wide horizontal detection range, but, however, do not have a large reach.
  • Remote range sensors opposite to close range sensors have the requirement of a higher reach and thus a system sensitivity as well as a higher measurement accuracy and a separation capability for the azimuth angle; in return the horizontal detection a may be restricted.
  • the distance of the antennas to each other is increased (e.g.
  • the width of these antennas must be at least about twice as large as the distance d of horizontally successive receiver antennas.
  • the above antenna assemblies for remote range sensors always comprise two transmitter antennas on the outside and thereby the effective aperture of the sensor can be nearly doubled in relation to its width—by means of this also in the 24 GHz-range sensors for long-reach functions with an acceptable sensor size can be realized.
  • the linear frequency modulation in contrast to the interpretation for the embodiments 1 and 2 have only half the frequency deviation, i.e. 93.75 MHz.
  • the individual antennas significantly emit and/or receive also outside of the azimuthal range ⁇ 19.5 . . . +19.5 by corresponding shoulders in the antenna diagram (see FIG. 28 ); such shoulders can be generated by the fact that patches in the central portion when seen horizontally of the individual antennas emit significantly more than the others, whereby a narrow and a wide antenna diagram are superimposed (by such an approach the antenna gain and thus the system sensitivity are reduced in the central portion, where a high reach is required, only relatively small).
  • the periodic horizontal offset of the antenna combinations can principally be also embodied with a higher period length Q than 2.
  • Q power peaks with respective distance N/Q result in the spectrum, wherein N is the DFT-length of the digital beam formation; from the values of these power peaks again the azimuth angle can be clearly determined, wherein now even a separation capability of objects, which generate power peaks with identical frequency values n, will be possible.
  • two digital beam formations in a DFT are superimposed—the one is fine, but ambiguous, the other for single objects is clear, but rough.

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US20110080314A1 (en) 2011-04-07
WO2010000254A3 (de) 2010-04-15
WO2010000252A3 (de) 2010-03-18
US20110074621A1 (en) 2011-03-31
EP2294446B1 (de) 2018-10-17
EP2294450A2 (de) 2011-03-16
CN102066970A (zh) 2011-05-18
KR101617684B1 (ko) 2016-05-03
EP2294445B1 (de) 2018-12-19
DE102009032115A1 (de) 2010-01-07
JP2011526372A (ja) 2011-10-06
WO2010000254A2 (de) 2010-01-07
US20110074620A1 (en) 2011-03-31
EP2294451A2 (de) 2011-03-16
DE102009032114A1 (de) 2010-01-07
US8390507B2 (en) 2013-03-05
WO2010000252A2 (de) 2010-01-07
US8593333B2 (en) 2013-11-26
JP2011526373A (ja) 2011-10-06
JP2011526370A (ja) 2011-10-06
EP2294451B1 (de) 2020-05-06
DE112009002141A5 (de) 2011-06-01
EP2294450B1 (de) 2018-09-19
DE102008038365A1 (de) 2010-01-07
WO2010000253A3 (de) 2010-03-18
US20110080313A1 (en) 2011-04-07
WO2010000253A2 (de) 2010-01-07

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